机器人研磨加工系统仿真分析

Simulation analysis of polishing and manufacturing system by robot

针对一种由RV-M1机器人、超声电火花复合研磨机和计算机等组成的机器人研磨加工系统,推导了五自由度机器人终端执行器的齐次变换矩阵,运用Pro E和ADAMS软件建立了动态仿真模型,结合该模型对机器人运动学和动力学进行了分析,为实现机器人研磨加工的最优控制提供了新的方法。

Focus on a kind of polishing and manufacturing system that consists of RV-M1 robot,the compound polishing machine of ultrasonic eletrosparking and computer,this paper deduces the matrix of homogeneous transformation for the robot of 5 degrees.Using the software of Pro/E and ADAMS,the model of dynamic simulation is built.Combining with the model,it carries on the analysis of kinematics and dynamics for robot.This can afford a new method for applying the optimization control of polishing and manufacturing by robot.